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ikd_Tree.cpp
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ikd_Tree.cpp
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#include "ikd_Tree.h"
/*
Description: ikd-Tree: an incremental k-d tree for robotic applications
Author: Yixi Cai
email: yixicai@connect.hku.hk
*/
template <typename PointType>
KD_TREE<PointType>::KD_TREE(float delete_param, float balance_param, float box_length)
{
delete_criterion_param = delete_param;
balance_criterion_param = balance_param;
downsample_size = box_length;
Rebuild_Logger.clear();
termination_flag = false;
start_thread();
}
template <typename PointType>
KD_TREE<PointType>::~KD_TREE()
{
stop_thread();
Delete_Storage_Disabled = true;
delete_tree_nodes(&Root_Node);
PointVector().swap(PCL_Storage);
Rebuild_Logger.clear();
}
template <typename PointType>
void KD_TREE<PointType>::InitializeKDTree(float delete_param, float balance_param, float box_length)
{
Set_delete_criterion_param(delete_param);
Set_balance_criterion_param(balance_param);
set_downsample_param(box_length);
}
template <typename PointType>
void KD_TREE<PointType>::InitTreeNode(KD_TREE_NODE *root)
{
root->point.x = 0.0f;
root->point.y = 0.0f;
root->point.z = 0.0f;
root->node_range_x[0] = 0.0f;
root->node_range_x[1] = 0.0f;
root->node_range_y[0] = 0.0f;
root->node_range_y[1] = 0.0f;
root->node_range_z[0] = 0.0f;
root->node_range_z[1] = 0.0f;
root->radius_sq = 0.0f;
root->division_axis = 0;
root->father_ptr = nullptr;
root->left_son_ptr = nullptr;
root->right_son_ptr = nullptr;
root->TreeSize = 0;
root->invalid_point_num = 0;
root->down_del_num = 0;
root->point_deleted = false;
root->tree_deleted = false;
root->need_push_down_to_left = false;
root->need_push_down_to_right = false;
root->point_downsample_deleted = false;
root->working_flag = false;
pthread_mutex_init(&(root->push_down_mutex_lock), NULL);
}
template <typename PointType>
int KD_TREE<PointType>::size()
{
int s = 0;
if (Rebuild_Ptr == nullptr || *Rebuild_Ptr != Root_Node)
{
if (Root_Node != nullptr)
{
return Root_Node->TreeSize;
}
else
{
return 0;
}
}
else
{
if (!pthread_mutex_trylock(&working_flag_mutex))
{
s = Root_Node->TreeSize;
pthread_mutex_unlock(&working_flag_mutex);
return s;
}
else
{
return Treesize_tmp;
}
}
}
template <typename PointType>
BoxPointType KD_TREE<PointType>::tree_range()
{
BoxPointType range;
if (Rebuild_Ptr == nullptr || *Rebuild_Ptr != Root_Node)
{
if (Root_Node != nullptr)
{
range.vertex_min[0] = Root_Node->node_range_x[0];
range.vertex_min[1] = Root_Node->node_range_y[0];
range.vertex_min[2] = Root_Node->node_range_z[0];
range.vertex_max[0] = Root_Node->node_range_x[1];
range.vertex_max[1] = Root_Node->node_range_y[1];
range.vertex_max[2] = Root_Node->node_range_z[1];
}
else
{
memset(&range, 0, sizeof(range));
}
}
else
{
if (!pthread_mutex_trylock(&working_flag_mutex))
{
range.vertex_min[0] = Root_Node->node_range_x[0];
range.vertex_min[1] = Root_Node->node_range_y[0];
range.vertex_min[2] = Root_Node->node_range_z[0];
range.vertex_max[0] = Root_Node->node_range_x[1];
range.vertex_max[1] = Root_Node->node_range_y[1];
range.vertex_max[2] = Root_Node->node_range_z[1];
pthread_mutex_unlock(&working_flag_mutex);
}
else
{
memset(&range, 0, sizeof(range));
}
}
return range;
}
template <typename PointType>
int KD_TREE<PointType>::validnum()
{
int s = 0;
if (Rebuild_Ptr == nullptr || *Rebuild_Ptr != Root_Node)
{
if (Root_Node != nullptr)
return (Root_Node->TreeSize - Root_Node->invalid_point_num);
else
return 0;
}
else
{
if (!pthread_mutex_trylock(&working_flag_mutex))
{
s = Root_Node->TreeSize - Root_Node->invalid_point_num;
pthread_mutex_unlock(&working_flag_mutex);
return s;
}
else
{
return -1;
}
}
}
template <typename PointType>
void KD_TREE<PointType>::root_alpha(float &alpha_bal, float &alpha_del)
{
if (Rebuild_Ptr == nullptr || *Rebuild_Ptr != Root_Node)
{
alpha_bal = Root_Node->alpha_bal;
alpha_del = Root_Node->alpha_del;
return;
}
else
{
if (!pthread_mutex_trylock(&working_flag_mutex))
{
alpha_bal = Root_Node->alpha_bal;
alpha_del = Root_Node->alpha_del;
pthread_mutex_unlock(&working_flag_mutex);
return;
}
else
{
alpha_bal = alpha_bal_tmp;
alpha_del = alpha_del_tmp;
return;
}
}
}
template <typename PointType>
void KD_TREE<PointType>::start_thread()
{
pthread_mutex_init(&termination_flag_mutex_lock, NULL);
pthread_mutex_init(&rebuild_ptr_mutex_lock, NULL);
pthread_mutex_init(&rebuild_logger_mutex_lock, NULL);
pthread_mutex_init(&points_deleted_rebuild_mutex_lock, NULL);
pthread_mutex_init(&working_flag_mutex, NULL);
pthread_mutex_init(&search_flag_mutex, NULL);
pthread_create(&rebuild_thread, NULL, multi_thread_ptr, (void *)this);
printf("Multi thread started \n");
}
template <typename PointType>
void KD_TREE<PointType>::stop_thread()
{
pthread_mutex_lock(&termination_flag_mutex_lock);
termination_flag = true;
pthread_mutex_unlock(&termination_flag_mutex_lock);
if (rebuild_thread)
pthread_join(rebuild_thread, NULL);
pthread_mutex_destroy(&termination_flag_mutex_lock);
pthread_mutex_destroy(&rebuild_logger_mutex_lock);
pthread_mutex_destroy(&rebuild_ptr_mutex_lock);
pthread_mutex_destroy(&points_deleted_rebuild_mutex_lock);
pthread_mutex_destroy(&working_flag_mutex);
pthread_mutex_destroy(&search_flag_mutex);
}
template <typename PointType>
void *KD_TREE<PointType>::multi_thread_ptr(void *arg)
{
KD_TREE *handle = (KD_TREE *)arg;
handle->multi_thread_rebuild();
return nullptr;
}
template <typename PointType>
void KD_TREE<PointType>::multi_thread_rebuild()
{
bool terminated = false;
KD_TREE_NODE *father_ptr, **new_node_ptr;
pthread_mutex_lock(&termination_flag_mutex_lock);
terminated = termination_flag;
pthread_mutex_unlock(&termination_flag_mutex_lock);
while (!terminated)
{
pthread_mutex_lock(&rebuild_ptr_mutex_lock);
pthread_mutex_lock(&working_flag_mutex);
if (Rebuild_Ptr != nullptr)
{
/* Traverse and copy */
if (!Rebuild_Logger.empty())
{
printf("\n\n\n\n\n\n\n\n\n\n\n ERROR!!! \n\n\n\n\n\n\n\n\n");
}
rebuild_flag = true;
if (*Rebuild_Ptr == Root_Node)
{
Treesize_tmp = Root_Node->TreeSize;
Validnum_tmp = Root_Node->TreeSize - Root_Node->invalid_point_num;
alpha_bal_tmp = Root_Node->alpha_bal;
alpha_del_tmp = Root_Node->alpha_del;
}
KD_TREE_NODE *old_root_node = (*Rebuild_Ptr);
father_ptr = (*Rebuild_Ptr)->father_ptr;
PointVector().swap(Rebuild_PCL_Storage);
// Lock Search
pthread_mutex_lock(&search_flag_mutex);
while (search_mutex_counter != 0)
{
pthread_mutex_unlock(&search_flag_mutex);
usleep(1);
pthread_mutex_lock(&search_flag_mutex);
}
search_mutex_counter = -1;
pthread_mutex_unlock(&search_flag_mutex);
// Lock deleted points cache
pthread_mutex_lock(&points_deleted_rebuild_mutex_lock);
flatten(*Rebuild_Ptr, Rebuild_PCL_Storage, MULTI_THREAD_REC);
// Unlock deleted points cache
pthread_mutex_unlock(&points_deleted_rebuild_mutex_lock);
// Unlock Search
pthread_mutex_lock(&search_flag_mutex);
search_mutex_counter = 0;
pthread_mutex_unlock(&search_flag_mutex);
pthread_mutex_unlock(&working_flag_mutex);
/* Rebuild and update missed operations*/
Operation_Logger_Type Operation;
KD_TREE_NODE *new_root_node = nullptr;
if (int(Rebuild_PCL_Storage.size()) > 0)
{
BuildTree(&new_root_node, 0, Rebuild_PCL_Storage.size() - 1, Rebuild_PCL_Storage);
// Rebuild has been done. Updates the blocked operations into the new tree
pthread_mutex_lock(&working_flag_mutex);
pthread_mutex_lock(&rebuild_logger_mutex_lock);
int tmp_counter = 0;
while (!Rebuild_Logger.empty())
{
Operation = Rebuild_Logger.front();
max_queue_size = max(max_queue_size, Rebuild_Logger.size());
Rebuild_Logger.pop();
pthread_mutex_unlock(&rebuild_logger_mutex_lock);
pthread_mutex_unlock(&working_flag_mutex);
run_operation(&new_root_node, Operation);
tmp_counter++;
if (tmp_counter % 10 == 0)
usleep(1);
pthread_mutex_lock(&working_flag_mutex);
pthread_mutex_lock(&rebuild_logger_mutex_lock);
}
pthread_mutex_unlock(&rebuild_logger_mutex_lock);
}
/* Replace to original tree*/
// pthread_mutex_lock(&working_flag_mutex);
pthread_mutex_lock(&search_flag_mutex);
while (search_mutex_counter != 0)
{
pthread_mutex_unlock(&search_flag_mutex);
usleep(1);
pthread_mutex_lock(&search_flag_mutex);
}
search_mutex_counter = -1;
pthread_mutex_unlock(&search_flag_mutex);
if (father_ptr->left_son_ptr == *Rebuild_Ptr)
{
father_ptr->left_son_ptr = new_root_node;
}
else if (father_ptr->right_son_ptr == *Rebuild_Ptr)
{
father_ptr->right_son_ptr = new_root_node;
}
else
{
throw "Error: Father ptr incompatible with current node\n";
}
if (new_root_node != nullptr)
new_root_node->father_ptr = father_ptr;
(*Rebuild_Ptr) = new_root_node;
int valid_old = old_root_node->TreeSize - old_root_node->invalid_point_num;
int valid_new = new_root_node->TreeSize - new_root_node->invalid_point_num;
if (father_ptr == STATIC_ROOT_NODE)
Root_Node = STATIC_ROOT_NODE->left_son_ptr;
KD_TREE_NODE *update_root = *Rebuild_Ptr;
while (update_root != nullptr && update_root != Root_Node)
{
update_root = update_root->father_ptr;
if (update_root->working_flag)
break;
if (update_root == update_root->father_ptr->left_son_ptr && update_root->father_ptr->need_push_down_to_left)
break;
if (update_root == update_root->father_ptr->right_son_ptr && update_root->father_ptr->need_push_down_to_right)
break;
Update(update_root);
}
pthread_mutex_lock(&search_flag_mutex);
search_mutex_counter = 0;
pthread_mutex_unlock(&search_flag_mutex);
Rebuild_Ptr = nullptr;
pthread_mutex_unlock(&working_flag_mutex);
rebuild_flag = false;
/* Delete discarded tree nodes */
delete_tree_nodes(&old_root_node);
}
else
{
pthread_mutex_unlock(&working_flag_mutex);
}
pthread_mutex_unlock(&rebuild_ptr_mutex_lock);
pthread_mutex_lock(&termination_flag_mutex_lock);
terminated = termination_flag;
pthread_mutex_unlock(&termination_flag_mutex_lock);
usleep(100);
}
printf("Rebuild thread terminated normally\n");
}
template <typename PointType>
void KD_TREE<PointType>::run_operation(KD_TREE_NODE **root, Operation_Logger_Type operation)
{
switch (operation.op)
{
case ADD_POINT:
Add_by_point(root, operation.point, false, (*root)->division_axis);
break;
case ADD_BOX:
Add_by_range(root, operation.boxpoint, false);
break;
case DELETE_POINT:
Delete_by_point(root, operation.point, false);
break;
case DELETE_BOX:
Delete_by_range(root, operation.boxpoint, false, false);
break;
case DOWNSAMPLE_DELETE:
Delete_by_range(root, operation.boxpoint, false, true);
break;
case PUSH_DOWN:
(*root)->tree_downsample_deleted |= operation.tree_downsample_deleted;
(*root)->point_downsample_deleted |= operation.tree_downsample_deleted;
(*root)->tree_deleted = operation.tree_deleted || (*root)->tree_downsample_deleted;
(*root)->point_deleted = (*root)->tree_deleted || (*root)->point_downsample_deleted;
if (operation.tree_downsample_deleted)
(*root)->down_del_num = (*root)->TreeSize;
if (operation.tree_deleted)
(*root)->invalid_point_num = (*root)->TreeSize;
else
(*root)->invalid_point_num = (*root)->down_del_num;
(*root)->need_push_down_to_left = true;
(*root)->need_push_down_to_right = true;
break;
default:
break;
}
}
template <typename PointType>
void KD_TREE<PointType>::Build(PointVector point_cloud)
{
if (Root_Node != nullptr)
{
delete_tree_nodes(&Root_Node);
}
if (point_cloud.size() == 0)
return;
STATIC_ROOT_NODE = new KD_TREE_NODE;
InitTreeNode(STATIC_ROOT_NODE);
BuildTree(&STATIC_ROOT_NODE->left_son_ptr, 0, point_cloud.size() - 1, point_cloud);
Update(STATIC_ROOT_NODE);
STATIC_ROOT_NODE->TreeSize = 0;
Root_Node = STATIC_ROOT_NODE->left_son_ptr;
}
template <typename PointType>
void KD_TREE<PointType>::Nearest_Search(PointType point, int k_nearest, PointVector &Nearest_Points, vector<float> &Point_Distance, float max_dist)
{
MANUAL_HEAP q(2 * k_nearest);
q.clear();
vector<float>().swap(Point_Distance);
if (Rebuild_Ptr == nullptr || *Rebuild_Ptr != Root_Node)
{
Search(Root_Node, k_nearest, point, q, max_dist);
}
else
{
pthread_mutex_lock(&search_flag_mutex);
while (search_mutex_counter == -1)
{
pthread_mutex_unlock(&search_flag_mutex);
usleep(1);
pthread_mutex_lock(&search_flag_mutex);
}
search_mutex_counter += 1;
pthread_mutex_unlock(&search_flag_mutex);
Search(Root_Node, k_nearest, point, q, max_dist);
pthread_mutex_lock(&search_flag_mutex);
search_mutex_counter -= 1;
pthread_mutex_unlock(&search_flag_mutex);
}
int k_found = min(k_nearest, int(q.size()));
PointVector().swap(Nearest_Points);
vector<float>().swap(Point_Distance);
for (int i = 0; i < k_found; i++)
{
Nearest_Points.insert(Nearest_Points.begin(), q.top().point);
Point_Distance.insert(Point_Distance.begin(), q.top().dist);
q.pop();
}
return;
}
template <typename PointType>
void KD_TREE<PointType>::Box_Search(const BoxPointType &Box_of_Point, PointVector &Storage)
{
Storage.clear();
Search_by_range(Root_Node, Box_of_Point, Storage);
}
template <typename PointType>
void KD_TREE<PointType>::Radius_Search(PointType point, const float radius, PointVector &Storage)
{
Storage.clear();
Search_by_radius(Root_Node, point, radius, Storage);
}
template <typename PointType>
int KD_TREE<PointType>::Add_Points(PointVector &PointToAdd, bool downsample_on)
{
int NewPointSize = PointToAdd.size();
int tree_size = size();
BoxPointType Box_of_Point;
PointType downsample_result, mid_point;
bool downsample_switch = downsample_on && DOWNSAMPLE_SWITCH;
float min_dist, tmp_dist;
int tmp_counter = 0;
for (int i = 0; i < PointToAdd.size(); i++)
{
if (downsample_switch)
{
Box_of_Point.vertex_min[0] = floor(PointToAdd[i].x / downsample_size) * downsample_size;
Box_of_Point.vertex_max[0] = Box_of_Point.vertex_min[0] + downsample_size;
Box_of_Point.vertex_min[1] = floor(PointToAdd[i].y / downsample_size) * downsample_size;
Box_of_Point.vertex_max[1] = Box_of_Point.vertex_min[1] + downsample_size;
Box_of_Point.vertex_min[2] = floor(PointToAdd[i].z / downsample_size) * downsample_size;
Box_of_Point.vertex_max[2] = Box_of_Point.vertex_min[2] + downsample_size;
mid_point.x = Box_of_Point.vertex_min[0] + (Box_of_Point.vertex_max[0] - Box_of_Point.vertex_min[0]) / 2.0;
mid_point.y = Box_of_Point.vertex_min[1] + (Box_of_Point.vertex_max[1] - Box_of_Point.vertex_min[1]) / 2.0;
mid_point.z = Box_of_Point.vertex_min[2] + (Box_of_Point.vertex_max[2] - Box_of_Point.vertex_min[2]) / 2.0;
PointVector().swap(Downsample_Storage);
Search_by_range(Root_Node, Box_of_Point, Downsample_Storage);
min_dist = calc_dist(PointToAdd[i], mid_point);
downsample_result = PointToAdd[i];
for (int index = 0; index < Downsample_Storage.size(); index++)
{
tmp_dist = calc_dist(Downsample_Storage[index], mid_point);
if (tmp_dist < min_dist)
{
min_dist = tmp_dist;
downsample_result = Downsample_Storage[index];
}
}
if (Rebuild_Ptr == nullptr || *Rebuild_Ptr != Root_Node)
{
if (Downsample_Storage.size() > 1 || same_point(PointToAdd[i], downsample_result))
{
if (Downsample_Storage.size() > 0)
Delete_by_range(&Root_Node, Box_of_Point, true, true);
Add_by_point(&Root_Node, downsample_result, true, Root_Node->division_axis);
tmp_counter++;
}
}
else
{
if (Downsample_Storage.size() > 1 || same_point(PointToAdd[i], downsample_result))
{
Operation_Logger_Type operation_delete, operation;
operation_delete.boxpoint = Box_of_Point;
operation_delete.op = DOWNSAMPLE_DELETE;
operation.point = downsample_result;
operation.op = ADD_POINT;
pthread_mutex_lock(&working_flag_mutex);
if (Downsample_Storage.size() > 0)
Delete_by_range(&Root_Node, Box_of_Point, false, true);
Add_by_point(&Root_Node, downsample_result, false, Root_Node->division_axis);
tmp_counter++;
if (rebuild_flag)
{
pthread_mutex_lock(&rebuild_logger_mutex_lock);
if (Downsample_Storage.size() > 0)
Rebuild_Logger.push(operation_delete);
Rebuild_Logger.push(operation);
pthread_mutex_unlock(&rebuild_logger_mutex_lock);
}
pthread_mutex_unlock(&working_flag_mutex);
};
}
}
else
{
if (Rebuild_Ptr == nullptr || *Rebuild_Ptr != Root_Node)
{
Add_by_point(&Root_Node, PointToAdd[i], true, Root_Node->division_axis);
}
else
{
Operation_Logger_Type operation;
operation.point = PointToAdd[i];
operation.op = ADD_POINT;
pthread_mutex_lock(&working_flag_mutex);
Add_by_point(&Root_Node, PointToAdd[i], false, Root_Node->division_axis);
if (rebuild_flag)
{
pthread_mutex_lock(&rebuild_logger_mutex_lock);
Rebuild_Logger.push(operation);
pthread_mutex_unlock(&rebuild_logger_mutex_lock);
}
pthread_mutex_unlock(&working_flag_mutex);
}
}
}
return tmp_counter;
}
template <typename PointType>
void KD_TREE<PointType>::Add_Point_Boxes(vector<BoxPointType> &BoxPoints)
{
for (int i = 0; i < BoxPoints.size(); i++)
{
if (Rebuild_Ptr == nullptr || *Rebuild_Ptr != Root_Node)
{
Add_by_range(&Root_Node, BoxPoints[i], true);
}
else
{
Operation_Logger_Type operation;
operation.boxpoint = BoxPoints[i];
operation.op = ADD_BOX;
pthread_mutex_lock(&working_flag_mutex);
Add_by_range(&Root_Node, BoxPoints[i], false);
if (rebuild_flag)
{
pthread_mutex_lock(&rebuild_logger_mutex_lock);
Rebuild_Logger.push(operation);
pthread_mutex_unlock(&rebuild_logger_mutex_lock);
}
pthread_mutex_unlock(&working_flag_mutex);
}
}
return;
}
template <typename PointType>
void KD_TREE<PointType>::Delete_Points(PointVector &PointToDel)
{
for (int i = 0; i < PointToDel.size(); i++)
{
if (Rebuild_Ptr == nullptr || *Rebuild_Ptr != Root_Node)
{
Delete_by_point(&Root_Node, PointToDel[i], true);
}
else
{
Operation_Logger_Type operation;
operation.point = PointToDel[i];
operation.op = DELETE_POINT;
pthread_mutex_lock(&working_flag_mutex);
Delete_by_point(&Root_Node, PointToDel[i], false);
if (rebuild_flag)
{
pthread_mutex_lock(&rebuild_logger_mutex_lock);
Rebuild_Logger.push(operation);
pthread_mutex_unlock(&rebuild_logger_mutex_lock);
}
pthread_mutex_unlock(&working_flag_mutex);
}
}
return;
}
template <typename PointType>
int KD_TREE<PointType>::Delete_Point_Boxes(vector<BoxPointType> &BoxPoints)
{
int tmp_counter = 0;
for (int i = 0; i < BoxPoints.size(); i++)
{
if (Rebuild_Ptr == nullptr || *Rebuild_Ptr != Root_Node)
{
tmp_counter += Delete_by_range(&Root_Node, BoxPoints[i], true, false);
}
else
{
Operation_Logger_Type operation;
operation.boxpoint = BoxPoints[i];
operation.op = DELETE_BOX;
pthread_mutex_lock(&working_flag_mutex);
tmp_counter += Delete_by_range(&Root_Node, BoxPoints[i], false, false);
if (rebuild_flag)
{
pthread_mutex_lock(&rebuild_logger_mutex_lock);
Rebuild_Logger.push(operation);
pthread_mutex_unlock(&rebuild_logger_mutex_lock);
}
pthread_mutex_unlock(&working_flag_mutex);
}
}
return tmp_counter;
}
template <typename PointType>
void KD_TREE<PointType>::acquire_removed_points(PointVector &removed_points)
{
pthread_mutex_lock(&points_deleted_rebuild_mutex_lock);
for (int i = 0; i < Points_deleted.size(); i++)
{
removed_points.push_back(Points_deleted[i]);
}
for (int i = 0; i < Multithread_Points_deleted.size(); i++)
{
removed_points.push_back(Multithread_Points_deleted[i]);
}
Points_deleted.clear();
Multithread_Points_deleted.clear();
pthread_mutex_unlock(&points_deleted_rebuild_mutex_lock);
return;
}
template <typename PointType>
void KD_TREE<PointType>::BuildTree(KD_TREE_NODE **root, int l, int r, PointVector &Storage)
{
if (l > r)
return;
*root = new KD_TREE_NODE;
InitTreeNode(*root);
int mid = (l + r) >> 1;
int div_axis = 0;
int i;
// Find the best division Axis
float min_value[3] = {INFINITY, INFINITY, INFINITY};
float max_value[3] = {-INFINITY, -INFINITY, -INFINITY};
float dim_range[3] = {0, 0, 0};
for (i = l; i <= r; i++)
{
min_value[0] = min(min_value[0], Storage[i].x);
min_value[1] = min(min_value[1], Storage[i].y);
min_value[2] = min(min_value[2], Storage[i].z);
max_value[0] = max(max_value[0], Storage[i].x);
max_value[1] = max(max_value[1], Storage[i].y);
max_value[2] = max(max_value[2], Storage[i].z);
}
// Select the longest dimension as division axis
for (i = 0; i < 3; i++)
dim_range[i] = max_value[i] - min_value[i];
for (i = 1; i < 3; i++)
if (dim_range[i] > dim_range[div_axis])
div_axis = i;
// Divide by the division axis and recursively build.
(*root)->division_axis = div_axis;
switch (div_axis)
{
case 0:
nth_element(begin(Storage) + l, begin(Storage) + mid, begin(Storage) + r + 1, point_cmp_x);
break;
case 1:
nth_element(begin(Storage) + l, begin(Storage) + mid, begin(Storage) + r + 1, point_cmp_y);
break;
case 2:
nth_element(begin(Storage) + l, begin(Storage) + mid, begin(Storage) + r + 1, point_cmp_z);
break;
default:
nth_element(begin(Storage) + l, begin(Storage) + mid, begin(Storage) + r + 1, point_cmp_x);
break;
}
(*root)->point = Storage[mid];
KD_TREE_NODE *left_son = nullptr, *right_son = nullptr;
BuildTree(&left_son, l, mid - 1, Storage);
BuildTree(&right_son, mid + 1, r, Storage);
(*root)->left_son_ptr = left_son;
(*root)->right_son_ptr = right_son;
Update((*root));
return;
}
template <typename PointType>
void KD_TREE<PointType>::Rebuild(KD_TREE_NODE **root)
{
KD_TREE_NODE *father_ptr;
if ((*root)->TreeSize >= Multi_Thread_Rebuild_Point_Num)
{
if (!pthread_mutex_trylock(&rebuild_ptr_mutex_lock))
{
if (Rebuild_Ptr == nullptr || ((*root)->TreeSize > (*Rebuild_Ptr)->TreeSize))
{
Rebuild_Ptr = root;
}
pthread_mutex_unlock(&rebuild_ptr_mutex_lock);
}
}
else
{
father_ptr = (*root)->father_ptr;
int size_rec = (*root)->TreeSize;
PCL_Storage.clear();
flatten(*root, PCL_Storage, DELETE_POINTS_REC);
delete_tree_nodes(root);
BuildTree(root, 0, PCL_Storage.size() - 1, PCL_Storage);
if (*root != nullptr)
(*root)->father_ptr = father_ptr;
if (*root == Root_Node)
STATIC_ROOT_NODE->left_son_ptr = *root;
}
return;
}
template <typename PointType>
int KD_TREE<PointType>::Delete_by_range(KD_TREE_NODE **root, BoxPointType boxpoint, bool allow_rebuild, bool is_downsample)
{
if ((*root) == nullptr || (*root)->tree_deleted)
return 0;
(*root)->working_flag = true;
Push_Down(*root);
int tmp_counter = 0;
if (boxpoint.vertex_max[0] <= (*root)->node_range_x[0] || boxpoint.vertex_min[0] > (*root)->node_range_x[1])
return 0;
if (boxpoint.vertex_max[1] <= (*root)->node_range_y[0] || boxpoint.vertex_min[1] > (*root)->node_range_y[1])
return 0;
if (boxpoint.vertex_max[2] <= (*root)->node_range_z[0] || boxpoint.vertex_min[2] > (*root)->node_range_z[1])
return 0;
if (boxpoint.vertex_min[0] <= (*root)->node_range_x[0] && boxpoint.vertex_max[0] > (*root)->node_range_x[1] && boxpoint.vertex_min[1] <= (*root)->node_range_y[0] && boxpoint.vertex_max[1] > (*root)->node_range_y[1] && boxpoint.vertex_min[2] <= (*root)->node_range_z[0] && boxpoint.vertex_max[2] > (*root)->node_range_z[1])
{
(*root)->tree_deleted = true;
(*root)->point_deleted = true;
(*root)->need_push_down_to_left = true;
(*root)->need_push_down_to_right = true;
tmp_counter = (*root)->TreeSize - (*root)->invalid_point_num;
(*root)->invalid_point_num = (*root)->TreeSize;
if (is_downsample)
{
(*root)->tree_downsample_deleted = true;
(*root)->point_downsample_deleted = true;
(*root)->down_del_num = (*root)->TreeSize;
}
return tmp_counter;
}
if (!(*root)->point_deleted && boxpoint.vertex_min[0] <= (*root)->point.x && boxpoint.vertex_max[0] > (*root)->point.x && boxpoint.vertex_min[1] <= (*root)->point.y && boxpoint.vertex_max[1] > (*root)->point.y && boxpoint.vertex_min[2] <= (*root)->point.z && boxpoint.vertex_max[2] > (*root)->point.z)
{
(*root)->point_deleted = true;
tmp_counter += 1;
if (is_downsample)
(*root)->point_downsample_deleted = true;
}
Operation_Logger_Type delete_box_log;
struct timespec Timeout;
if (is_downsample)
delete_box_log.op = DOWNSAMPLE_DELETE;
else
delete_box_log.op = DELETE_BOX;
delete_box_log.boxpoint = boxpoint;
if ((Rebuild_Ptr == nullptr) || (*root)->left_son_ptr != *Rebuild_Ptr)
{
tmp_counter += Delete_by_range(&((*root)->left_son_ptr), boxpoint, allow_rebuild, is_downsample);
}
else
{
pthread_mutex_lock(&working_flag_mutex);
tmp_counter += Delete_by_range(&((*root)->left_son_ptr), boxpoint, false, is_downsample);
if (rebuild_flag)
{
pthread_mutex_lock(&rebuild_logger_mutex_lock);
Rebuild_Logger.push(delete_box_log);
pthread_mutex_unlock(&rebuild_logger_mutex_lock);
}
pthread_mutex_unlock(&working_flag_mutex);
}
if ((Rebuild_Ptr == nullptr) || (*root)->right_son_ptr != *Rebuild_Ptr)
{
tmp_counter += Delete_by_range(&((*root)->right_son_ptr), boxpoint, allow_rebuild, is_downsample);
}
else
{
pthread_mutex_lock(&working_flag_mutex);
tmp_counter += Delete_by_range(&((*root)->right_son_ptr), boxpoint, false, is_downsample);
if (rebuild_flag)
{
pthread_mutex_lock(&rebuild_logger_mutex_lock);
Rebuild_Logger.push(delete_box_log);
pthread_mutex_unlock(&rebuild_logger_mutex_lock);
}
pthread_mutex_unlock(&working_flag_mutex);
}
Update(*root);
if (Rebuild_Ptr != nullptr && *Rebuild_Ptr == *root && (*root)->TreeSize < Multi_Thread_Rebuild_Point_Num)
Rebuild_Ptr = nullptr;
bool need_rebuild = allow_rebuild & Criterion_Check((*root));
if (need_rebuild)
Rebuild(root);
if ((*root) != nullptr)
(*root)->working_flag = false;
return tmp_counter;
}
template <typename PointType>
void KD_TREE<PointType>::Delete_by_point(KD_TREE_NODE **root, PointType point, bool allow_rebuild)
{
if ((*root) == nullptr || (*root)->tree_deleted)
return;
(*root)->working_flag = true;
Push_Down(*root);
if (same_point((*root)->point, point) && !(*root)->point_deleted)
{
(*root)->point_deleted = true;
(*root)->invalid_point_num += 1;
if ((*root)->invalid_point_num == (*root)->TreeSize)
(*root)->tree_deleted = true;
return;
}
Operation_Logger_Type delete_log;
struct timespec Timeout;
delete_log.op = DELETE_POINT;
delete_log.point = point;
if (((*root)->division_axis == 0 && point.x < (*root)->point.x) || ((*root)->division_axis == 1 && point.y < (*root)->point.y) || ((*root)->division_axis == 2 && point.z < (*root)->point.z))
{
if ((Rebuild_Ptr == nullptr) || (*root)->left_son_ptr != *Rebuild_Ptr)
{
Delete_by_point(&(*root)->left_son_ptr, point, allow_rebuild);
}
else
{
pthread_mutex_lock(&working_flag_mutex);
Delete_by_point(&(*root)->left_son_ptr, point, false);
if (rebuild_flag)
{
pthread_mutex_lock(&rebuild_logger_mutex_lock);
Rebuild_Logger.push(delete_log);
pthread_mutex_unlock(&rebuild_logger_mutex_lock);
}
pthread_mutex_unlock(&working_flag_mutex);
}
}
else
{
if ((Rebuild_Ptr == nullptr) || (*root)->right_son_ptr != *Rebuild_Ptr)
{
Delete_by_point(&(*root)->right_son_ptr, point, allow_rebuild);
}
else
{
pthread_mutex_lock(&working_flag_mutex);
Delete_by_point(&(*root)->right_son_ptr, point, false);
if (rebuild_flag)
{
pthread_mutex_lock(&rebuild_logger_mutex_lock);
Rebuild_Logger.push(delete_log);
pthread_mutex_unlock(&rebuild_logger_mutex_lock);
}
pthread_mutex_unlock(&working_flag_mutex);
}
}
Update(*root);
if (Rebuild_Ptr != nullptr && *Rebuild_Ptr == *root && (*root)->TreeSize < Multi_Thread_Rebuild_Point_Num)
Rebuild_Ptr = nullptr;
bool need_rebuild = allow_rebuild & Criterion_Check((*root));
if (need_rebuild)
Rebuild(root);
if ((*root) != nullptr)
(*root)->working_flag = false;
return;
}
template <typename PointType>
void KD_TREE<PointType>::Add_by_range(KD_TREE_NODE **root, BoxPointType boxpoint, bool allow_rebuild)
{
if ((*root) == nullptr)
return;
(*root)->working_flag = true;
Push_Down(*root);
if (boxpoint.vertex_max[0] <= (*root)->node_range_x[0] || boxpoint.vertex_min[0] > (*root)->node_range_x[1])
return;
if (boxpoint.vertex_max[1] <= (*root)->node_range_y[0] || boxpoint.vertex_min[1] > (*root)->node_range_y[1])
return;
if (boxpoint.vertex_max[2] <= (*root)->node_range_z[0] || boxpoint.vertex_min[2] > (*root)->node_range_z[1])
return;
if (boxpoint.vertex_min[0] <= (*root)->node_range_x[0] && boxpoint.vertex_max[0] > (*root)->node_range_x[1] && boxpoint.vertex_min[1] <= (*root)->node_range_y[0] && boxpoint.vertex_max[1] > (*root)->node_range_y[1] && boxpoint.vertex_min[2] <= (*root)->node_range_z[0] && boxpoint.vertex_max[2] > (*root)->node_range_z[1])
{
(*root)->tree_deleted = false || (*root)->tree_downsample_deleted;
(*root)->point_deleted = false || (*root)->point_downsample_deleted;
(*root)->need_push_down_to_left = true;
(*root)->need_push_down_to_right = true;
(*root)->invalid_point_num = (*root)->down_del_num;
return;
}
if (boxpoint.vertex_min[0] <= (*root)->point.x && boxpoint.vertex_max[0] > (*root)->point.x && boxpoint.vertex_min[1] <= (*root)->point.y && boxpoint.vertex_max[1] > (*root)->point.y && boxpoint.vertex_min[2] <= (*root)->point.z && boxpoint.vertex_max[2] > (*root)->point.z)
{
(*root)->point_deleted = (*root)->point_downsample_deleted;
}
Operation_Logger_Type add_box_log;
struct timespec Timeout;
add_box_log.op = ADD_BOX;
add_box_log.boxpoint = boxpoint;
if ((Rebuild_Ptr == nullptr) || (*root)->left_son_ptr != *Rebuild_Ptr)
{
Add_by_range(&((*root)->left_son_ptr), boxpoint, allow_rebuild);
}
else
{
pthread_mutex_lock(&working_flag_mutex);
Add_by_range(&((*root)->left_son_ptr), boxpoint, false);
if (rebuild_flag)
{
pthread_mutex_lock(&rebuild_logger_mutex_lock);
Rebuild_Logger.push(add_box_log);
pthread_mutex_unlock(&rebuild_logger_mutex_lock);
}
pthread_mutex_unlock(&working_flag_mutex);
}
if ((Rebuild_Ptr == nullptr) || (*root)->right_son_ptr != *Rebuild_Ptr)
{
Add_by_range(&((*root)->right_son_ptr), boxpoint, allow_rebuild);
}
else
{
pthread_mutex_lock(&working_flag_mutex);
Add_by_range(&((*root)->right_son_ptr), boxpoint, false);
if (rebuild_flag)
{
pthread_mutex_lock(&rebuild_logger_mutex_lock);
Rebuild_Logger.push(add_box_log);
pthread_mutex_unlock(&rebuild_logger_mutex_lock);
}
pthread_mutex_unlock(&working_flag_mutex);
}
Update(*root);
if (Rebuild_Ptr != nullptr && *Rebuild_Ptr == *root && (*root)->TreeSize < Multi_Thread_Rebuild_Point_Num)
Rebuild_Ptr = nullptr;
bool need_rebuild = allow_rebuild & Criterion_Check((*root));
if (need_rebuild)
Rebuild(root);
if ((*root) != nullptr)
(*root)->working_flag = false;
return;
}
template <typename PointType>
void KD_TREE<PointType>::Add_by_point(KD_TREE_NODE **root, PointType point, bool allow_rebuild, int father_axis)
{
if (*root == nullptr)
{
*root = new KD_TREE_NODE;
InitTreeNode(*root);